Cantilever type three-axis positioning balance force arm

Abstract

A cantilever type three-axis positioning balance force arm comprises a balance mechanism first arm, a balance mechanism second arm, a balance mechanism third arm and a main shaft supporting assembly, a servo screwdriver is installed at the tail end of the balance mechanism third arm, the balance mechanism first arm is installed on the main shaft supporting assembly, and the balance mechanism second arm is installed on the main shaft supporting assembly. The balance mechanism second arm is connected between the balance mechanism third arm and the balance mechanism first arm. According to the cantilever type three-axis positioning balance force arm system, the three-axis positioning force arm is configured to carry a servo screwdriver for turning a screw, each rotating arm is provided with a precision encoder, each moving angle and position are positioned and recorded, and the cantilever type three-axis positioning balance force arm system is used for fool-proof and mistake-proof of locking of precision components and parts. The product is composed of a control system and an operation system, has the functions of controlling locking torque, rotating speed, angle and the like, and can record a torsion change curve in the screw locking process.

Description

TECHNICAL FIELD

[0001] The utility model relates to lock screw mechanism technical field especially relates to a cantilever type three -axis positioning lock screw mechanism. BACKGROUND

[0002] In modern industrial products, electronic products and large machinery production field, there are a large number of screw fastening structures, screw fastening is gradually becoming the main means of product assembly due to its rapid rhythm, reliable connection, reusability and a series of advantages. With the development of technology, the manufacturing industry enterprises have higher and higher requirements for screw fastening. Especially in the automobile and communication industries, the products are large and complex, the joint robot flexibility is not enough, or a high cost is spent but the effect is low. The similar equipment on the market to solve the above problems has complex structure, inconvenient installation and maintenance, or single function, only has basic functions such as positioning and error correction, and is expensive, the cost-effectiveness is low, and small and medium-sized enterprises are difficult to bear.

[0003] Some auxiliary electric screwdriver devices or supports have simple structure and low movement reliability, are not flexible enough during operation, need operators to consume energy during lifting process and the like. For example, the disclosed patent 202323618739.2 intelligent screwdriver fixing tool discloses a tool for positioning and fastening screwdrivers to flexibly adjust and fix the position of the screwdrivers, but the structure is relatively simple and does not have multiple joints and self-driven equipment cooperation, and is not reliable and practical enough. SUMMARY

[0004] The utility model discloses a cantilever type three -axis positioning balance arm that the existing technology proposes, adopts three -axis positioning force arm to carry the servo screwdriver of screwing, and this product can carry precision encoder and be used for preventing the mistake of precision component locking, and the product is composed of control system, operating system, has small installation space, various flexible installation mode. Still have the function of controlling lock torque, rotational speed, angle and the like, and can record the torsional force change curve of screw locking process, additionally still have the communication interaction with host computer, support DXF file import, reduce a large amount of manual setting and teaching time.

[0005] The utility model relates to a cantilever type three -axis positioning balance arm, and its characterized in that the cantilever type three -axis positioning balance arm includes balance mechanism first arm, balance mechanism second arm, balance mechanism third arm and main shaft support assembly, wherein servo screwdriver is installed at the end of balance mechanism third arm, and balance mechanism first arm is installed on main shaft support assembly, and balance mechanism second arm is connected between balance mechanism third arm and balance mechanism first arm.

[0006] The balance arm further comprises an absolute value encoder, a positioning system controller, and an intelligent tightening controller, wherein the positioning system controller controls and drives the cantilever type three-axis positioning balance arm through the absolute value encoder, the positioning system controller transmits and controls the intelligent tightening controller after receiving the signal of the absolute value encoder, and the intelligent tightening controller controls the start and stop and tightening action of the servo screwdriver.

[0007] The absolute value encoder comprises three absolute value encoders, namely a first absolute value encoder, a second absolute value encoder, and a third absolute value encoder, wherein the first absolute value encoder collects position information of the first arm of the balance mechanism and controls the movement of the first arm of the balance mechanism; the second absolute value encoder collects position information of the second arm of the balance mechanism and controls the movement of the second arm of the balance mechanism; and the third absolute value encoder collects position information of the third arm of the balance mechanism and controls the movement of the third arm of the balance mechanism.

[0008] The cantilever type three-axis positioning balance arm further comprises a base, a main shaft supporting assembly, a first bearing assembly, a first encoder mounting assembly, a second bearing assembly, a second encoder mounting assembly, a third arm supporting seat, a third encoder mounting assembly, and a screwdriver fixing seat, wherein the base is at the bottom, the main shaft supporting assembly is fixedly installed on the base, the first bearing assembly is arranged at the top end of the main shaft supporting assembly, the first arm of the balance mechanism is connected to the top end of the main shaft supporting assembly through the first bearing assembly, the first encoder mounting assembly and the first absolute value encoder are arranged on the first bearing assembly; the second bearing assembly is arranged at the other end of the first arm of the balance mechanism, the second arm of the balance mechanism is connected to the first arm of the balance mechanism through the second bearing assembly, the second encoder mounting assembly and the second absolute value encoder are arranged on the second bearing assembly; the third arm supporting seat is arranged at the other end of the second arm of the balance mechanism, the third arm of the balance mechanism is connected to the second arm of the balance mechanism through the third arm supporting seat, and the third encoder mounting assembly and the third absolute value encoder are arranged on the third arm supporting seat.

[0009] The servo screwdriver adapted to the balance arm is arranged on the balance arm through the screwdriver fixing seat.

[0010] The first encoder mounting assembly, the second encoder mounting assembly, and the third encoder mounting assembly each comprise an encoder mounting plate, an encoder connecting shaft, and an encoder cover, wherein the encoder plate is arranged on the bearing, the encoder connecting shaft penetrates through the encoder plate and is connected to the absolute value encoder, and the encoder cover covers the absolute value encoder.

[0011] The third arm of the balancing mechanism comprises two connecting arms, a nitrogen spring, a gas spring floating seat and a gas spring fixed seat, the two connecting arms in the third arm of the balancing mechanism are fixed in parallel and connected between a third arm support seat and a screwdriver fixed seat, the gas spring floating seat is arranged in the third arm support seat, the gas spring fixed seat is arranged at the farthest end of the connecting arms, and the nitrogen spring is arranged along the diagonal of the parallelogram formed by the two connecting arms.

[0012] The screwdriver fixed seat comprises a fixed seat rotating shaft, a front end connecting column, a front end left side plate, a front end right side plate, a handle, a chuck mounting block and a tool chuck, the fixed seat rotating shaft is arranged at the farthest end of the connecting arms, the front end left side plate and the front end right side plate are arranged at the two sides of the farthest end of the connecting arms respectively, the front end left side plate and the front end right side plate are connected relative to each other by the front end connecting column, and the two connecting arms are hingedly connected between the front end left side plate and the front end right side plate through the two fixed seat rotating shafts.

[0013] The chuck mounting block is fixedly arranged between the front end left side plate and the front end right side plate, the tool chuck is arranged on the chuck mounting block, the handle is arranged on one side of the tool chuck, and the fixed position for fixing and installing the servo screwdriver is arranged on the tool chuck.

[0014] The utility model relates to a kind of cantilever type three-axis positioning balanced force arm systems, configure three-axis positioning force arm to carry the servo screwdriver of screwing, and precision encoder is arranged on each rotating arm in it, positioning and recording every time moving angle and position, for the foolproof error prevention of precision component locking, product is composed of control system, operating system, also have the functions of control locking torque, rotational speed, angle etc., and can record the torsional force variation curve of screw locking process, additionally also have with host computer communication interaction, support DXF file import, substantially reduce artificial setting and teaching time. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the overall architecture diagram of the cantilever type three-axis positioning balanced force arm involved in the utility model;

[0016] Figure 2 It is the overall architecture diagram of the cantilever type three-axis positioning balanced force arm involved in the utility model;

[0017] Figure 3 It is the wiring diagram of positioning system controller and encoder of the cantilever type three-axis positioning balanced force arm system involved in the utility model;

[0018] Figure 4 It is the external IO interface schematic diagram of positioning system controller and encoder of the cantilever type three-axis positioning balanced force arm system involved in the utility model;

[0019] Figure 5It is the whole structure diagram of the cantilever type three-axis positioning balanced force arm involved in the utility model;

[0020] Figure 6 It is the local enlarged structure diagram of the first arm of the balance mechanism in the cantilever type three-axis positioning balanced force arm involved in the utility model;

[0021] Figure 7 It is the local enlarged structure diagram of the third arm of the balance mechanism in the cantilever type three-axis positioning balanced force arm involved in the utility model;

[0022] 100, servo screwdriver; 200, cantilever type three-axis positioning balanced force arm; 300, absolute value encoder; 301, first absolute value encoder; 302, second absolute value encoder; 303, third absolute value encoder; 400, positioning system controller; 500, intelligent tightening controller;

[0023] 10, first arm of the balance mechanism; 11, first bearing assembly; 111, bearing seat, 112, bearing; 12, first encoder mounting assembly; 21, encoder mounting plate; 122, encoder connecting shaft; 123, encoder cover; 20, second arm of the balance mechanism; 21, second bearing assembly; 22, second encoder mounting assembly; 30, third arm of the balance mechanism; 31, third arm support seat; 32, third encoder assembly assembly; 33, connecting arm; 34, nitrogen spring; 35, gas spring floating seat; 36, gas spring fixed seat; 40, main shaft supporting assembly; 50, base; 60, screwdriver fixed seat; 61, fixed seat rotating shaft; 62, front end connecting column; 63, front end left side plate; 64, front end rear side plate; 65, handle; 66, chuck mounting block; 67, tool chuck. DETAILED DESCRIPTION

[0024] The utility model will be described in detail below in combination with the drawings and examples, the examples of the embodiment are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements with the same or similar function throughout. The examples described below by referring to the drawings are exemplary, only for explaining the utility model, and cannot be understood as limiting the utility model.

[0025] In the description of the utility model, it is understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as limiting the utility model.

[0026] The utility model relates to a kind of cantilever type three-axis positioning balanced arm system, DXF format file import can be supported, can realize according to order locking, positioning, error correction, alarm of misoperation etc.

[0027] Please refer to the attached Figure 1 And the attached Figure 2 Wherein a kind of cantilever type three-axis positioning balanced arm system conceptual diagram and design architecture block diagram are shown, and the balanced arm system includes servo screwdriver 100, cantilever type three-axis positioning balanced arm 200, absolute value encoder 300, positioning system controller 400, intelligent tightening controller 500, wherein positioning system controller 400 controls and drives cantilever type three-axis positioning balanced arm 200 by absolute value encoder 300, positioning system controller 400 receives the signal of absolute value encoder 300 and then transmits and controls intelligent tightening controller 500, and the intelligent tightening controller 500 controls servo screwdriver 100 start-stop and tightening action.

[0028] And further, the cantilever type three-axis positioning balanced arm designed by us contains three sections of rotating arm, and the cantilever type three-axis positioning balanced arm 200 includes balance mechanism first arm 10, balance mechanism second arm 20, balance mechanism third arm 30 and main shaft support assembly 40, wherein servo screwdriver 100 is installed at the end of balance mechanism third arm 30, and balance mechanism first arm 10 is installed on main shaft support assembly 40, and the balance mechanism second arm 20 is connected between balance mechanism third arm 30 and balance mechanism first arm 10.

[0029] And in order to accurately control and drive each section of rotating arm, three absolute value encoders are respectively arranged, and the absolute value encoder 300 includes three absolute value encoders, and they are first absolute value encoder 301, second absolute value encoder 302 and third absolute value encoder 303, wherein first absolute value encoder 301 collects the position information of balance mechanism first arm 10 and controls balance mechanism first arm 10 movement;And the second absolute value encoder 302 collects the position information of balance mechanism second arm 20 and controls balance mechanism second arm 20 movement;The third absolute value encoder 303 collects the position information of balance mechanism third arm 30 and controls balance mechanism third arm 30 movement.

[0030] Please refer to the attached Figure 3 And the attached Figure 4 Wherein the interface schematic diagram of positioning system controller and encoder is respectively shown; Figure 3 The wiring schematic diagram of positioning system controller and encoder and external IO port is shown.

[0031] In the whole machine architecture, three absolute value encoders also interact and transfer information with the positioning system controller 400 in real time. The positioning system controller 400 feeds back the real-time acquisition data control results to the intelligent screwdriver controller 500, and the intelligent screwdriver controller 500 controls the servo motor through encoding and decoding to perform reverse transmission and tightening process with a certain torque.

[0032] The combination of the screwdriver controller and the positioning system controller completes the positioning system controller as the main control unit of the device, realizes the DXF file import of the PC, the batch start and mistake-proof screwing function of the screwdriver, the current screw position recognition function, the teaching of the screw position and the torque parameter setting, etc.

[0033] Please refer to the attached Figure 5 and the attached Figure 6 The specific mechanical structure of the cantilever type three-axis positioning balance arm 200 is shown, which is a cantilever type three-axis rotary linear motion balancing mechanism. Finally, it cooperates with the movement of the servo screwdriver and the positioning system to realize real-time feedback and recording of the working position coordinates of the servo screwdriver. At the same time, the system also checks the drawing and the actual working position according to the preset time, and performs error correction and recording process. Once an error occurs, it will also have an automatic alarm indication, and the system will make an error record backup for review.

[0034] The balance arm involved in the attached Figure 5 achieves the rotation of the balance mechanism first arm 10, the rotation of the balance mechanism second arm 20, and the up-and-down swinging of the balance mechanism third arm 30. From the overall structure, it also includes a base 50, a main shaft support assembly 40, a first bearing assembly 11, a first encoder installation assembly 12, a second bearing assembly 21, a second encoder installation assembly 22, a third arm support seat 31, a third encoder installation assembly 32, and a screwdriver fixing seat 60. The base 50 is at the bottom, the main shaft support assembly 40 is fixed on the base 50, the first bearing assembly 11 is provided at the top end of the main shaft support assembly 40, the balance mechanism first arm 10 is connected to the top end of the main shaft support assembly 40 through the first bearing assembly 11, and the first encoder installation assembly 12 and the first absolute value encoder 301 are provided on the first bearing assembly 11. The balance mechanism second arm 20 is connected to the balance mechanism first arm 10 through the second bearing assembly 21 provided at the other end of the balance mechanism first arm 10, and the second encoder installation assembly 22 and the second absolute value encoder 302 are provided on the second bearing assembly 21. The balance mechanism third arm 30 is connected to the balance mechanism second arm 20 through the third arm support seat 31 provided at the other end of the balance mechanism second arm 20, and the third encoder installation assembly 32 and the third absolute value encoder 303 are provided on the third arm support seat 31.

[0035] The first bearing assembly 11 comprises a bearing seat 111 and a bearing 112.

[0036] The first encoder mounting assembly 12, the second encoder mounting assembly 22 and the third encoder mounting assembly 32 each comprise an encoder mounting plate 121, an encoder connecting shaft 122 and an encoder cover 123. The encoder plate 121 is mounted on the bearing, i.e. the encoder plate 121 in the first encoder assembly 12 is mounted on the bearing of the first bearing assembly, and the encoder plate in the second encoder assembly 22 is mounted on the bearing of the second bearing assembly 21. The encoder connecting shaft 122 is connected to the absolute encoder through the encoder plate 121, and the encoder cover 123 covers the absolute encoder to protect it from dust and water.

[0037] The third arm 30 of the balancing mechanism comprises two connecting arms 33, a nitrogen gas spring 34, a gas spring floating seat 35 and a gas spring fixed seat 36. The two connecting arms 31 in the third arm 30 of the balancing mechanism are fixed and connected in parallel between the third arm support seat 31 and the screwdriver fixed seat 60, and the third arm 30 of the balancing mechanism can complete the movement trajectory of up and down movement. The gas spring floating seat 35 is arranged in the third arm support seat 31, and the gas spring fixed seat 36 is arranged at the farthest end of the connecting arm 33. The nitrogen gas spring 34 is arranged between the gas spring floating seat 35 and the gas spring fixed seat 36 along the diagonal of the parallelogram formed by the two connecting arms 33. By stretching and contracting the nitrogen gas spring 34, the diagonal distance of the parallelogram is actually extended and compressed, so as to obtain the up and down movement of the structure with the two connecting arms 33 as the parallel sides. Thus, the movement range of the third arm 30 of the balancing mechanism is limited.

[0038] The screwdriver fixed seat 60 comprises a fixed seat rotating shaft 61, a front end connecting column 62, a front end left side plate 63, a front end right side plate 64, a handle 65, a chuck mounting block 66 and a tool chuck 67. The fixed seat rotating shaft 61 is arranged at the farthest end of the connecting arm 33, and the front end left side plate 63 and the front end right side plate 64 are arranged on the two sides of the farthest end of the connecting arm 33 respectively. The front end left side plate 63 and the front end right side plate 64 are connected relative to each other by the front end connecting column 62, and the two connecting arms 33 are hinged between the front end left side plate and the front end right side plate by the two fixed seat rotating shafts 61.

[0039] The chuck mounting block 66 is fixedly arranged between the front end left side plate 63 and the front end right side plate 64, and the tool chuck 67 is arranged on the chuck mounting block 66. The handle 65 is arranged on one side of the tool chuck 67, and the fixed position for fixing the servo screwdriver 100 is arranged on the tool chuck 67.

[0040] The working process of the cantilevered three-axis positioning balancing arm is as follows: the servo screwdriver is fixed at the farthest end of the third arm 30 of the balancing mechanism, the second arm 20 of the balancing mechanism is connected to the first arm 10 of the balancing mechanism through a rotating shaft, the manual hand holds the servo screwdriver 100, moves the third arm 30 of the balancing mechanism vertically downward, and at the same time the first and second arms rotate by an angle. The three absolute encoders can measure and record the rotation angle in real time.

[0041] The first arm 10 of the balancing mechanism is mounted on the main shaft support assembly 40 and can rotate around the main shaft; it can rotate freely 360 degrees and extend outward by a maximum of 820mm; the third arm 30 of the balancing mechanism contains a nitrogen spring 34 to maintain the parking position.

[0042] After setting the screw fastening parameters, hold the handle 65 near the servo screwdriver 100 and move the rotating arm to adjust the position of the servo screwdriver 100. When the servo screwdriver 100 is positioned above the screw hole, press down on the servo screwdriver. Observe and fine-tune the screwdriver position as needed until the screw is vertically inserted into the screw hole to be fastened. Press the servo screwdriver start button to fasten the screw in place. Repeat the above actions to fasten the screws one by one in the set sequence. If an error alarm occurs during the process, stop the fastening process.

[0043] Angle control: The current angle of the XYZ axes is fed back by an absolute rotary encoder, eliminating the need for a power-on zeroing action; Encoder specification: TS5705N250.

[0044] The servo screwdriver, mounted at the front end of a cantilevered three-axis positioning balance arm, is the direct drive component for screw fastening. Equipped with an independent controller, it allows for setting torque, speed, angle, and grouped screw fastening tasks, and can record and provide feedback on current data. Simultaneously, its working position and operating status are controlled by the positioning system controller. Different models of servo screwdrivers can be customized to meet customer needs.

[0045] Screw fastening process:

[0046] First, the screw fastening task parameters, such as torque, angle value, and speed, are set via the servo screwdriver controller. Multiple tasks can be set, up to a maximum of 12.

[0047] In the positioning system controller interface, you can edit the screw position, screw fastening sequence, and corresponding screw fastening tasks.

[0048] Then, click "Run". Manually hold the screwdriver handle and rotate the three-axis positioning and balancing mechanism. Rotate the first arm 10 and the second arm 20 of the balancing mechanism to control the angle between the two rotating arms. The position of the servo screwdriver 100 can be adjusted in real time. The third arm of the balancing mechanism moves vertically downward. When the servo screwdriver 100 reaches the set point and the serial number matches, the positioning system interface will prompt that it can be locked. At this time, press the start button on the servo screwdriver and press down on the servo screwdriver. The servo screwdriver will cooperate with the manual to perform the locking work according to the corresponding task.

[0049] The beneficial effects of the device in this patent application are as follows: it fills the gap in the domestic market for screw positioning and error correction systems; the system is stable and reliable; the cantilevered three-axis positioning balance arm occupies little space and offers multiple flexible installation methods; it is easy and simple to operate, rotating freely 360 degrees with a maximum outward extension of 820mm; it contains a nitrogen spring to maintain the parking position, making gripping easier and more convenient; it uses an absolute encoder to provide angle feedback and has a power-off memory function, eliminating the need for zeroing operations upon startup; it is the first in the industry to support DXF file import, greatly reducing the user's debugging workload; this device is a comprehensive system combining high reliability and high-quality management.

[0050] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A cantilevered tri-axial positioning counterbalance arm, characterized by, The cantilever type three-axis positioning balanced force arm comprises a first arm of a balancing mechanism, a second arm of the balancing mechanism, a third arm of the balancing mechanism, and a main shaft supporting assembly, wherein a servo screwdriver is installed at the end of the third arm of the balancing mechanism, the first arm of the balancing mechanism is installed on the main shaft supporting assembly, the second arm of the balancing mechanism is connected between the third arm of the balancing mechanism and the first arm of the balancing mechanism, the cantilever type three-axis positioning balanced force arm further comprises an absolute value encoder, a positioning system controller, and an intelligent tightening controller, wherein the positioning system controller controls and drives the cantilever type three-axis positioning balanced force arm through the absolute value encoder, the positioning system controller transmits and controls the intelligent tightening controller after receiving the signal of the absolute value encoder, and the intelligent tightening controller controls the start-stop and tightening action of the servo screwdriver; the absolute value encoder comprises three absolute value encoders, namely a first absolute value encoder, a second absolute value encoder, and a third absolute value encoder, wherein the first absolute value encoder collects the position information of the first arm of the balancing mechanism and controls the movement of the first arm of the balancing mechanism, the second absolute value encoder collects the position information of the second arm of the balancing mechanism and controls the movement of the second arm of the balancing mechanism, and the third absolute value encoder collects the position information of the third arm of the balancing mechanism and controls the movement of the third arm of the balancing mechanism.

2. The cantilevered three-axis positioning balance beam according to claim 1, wherein, The cantilever type three-axis positioning balanced force arm further comprises a base, a main shaft supporting assembly, a first bearing assembly, a first encoder mounting assembly, a second bearing assembly, a second encoder mounting assembly, a third arm supporting seat, a third encoder mounting assembly, and a screwdriver fixing seat, the base is at the bottom, the main shaft supporting assembly is installed and fixed on the base, the first bearing assembly is arranged at the top end of the main shaft supporting assembly, the first arm of the balancing mechanism is connected to the top end of the main shaft supporting assembly through the first bearing assembly, the first encoder mounting assembly and the first absolute value encoder are arranged on the first bearing assembly, the second bearing assembly is arranged at the other end of the first arm of the balancing mechanism, the second arm of the balancing mechanism is connected to the first arm of the balancing mechanism through the second bearing assembly, the second encoder mounting assembly and the second absolute value encoder are arranged on the second bearing assembly, the third arm supporting seat is arranged at the other end of the second arm of the balancing mechanism, the third arm of the balancing mechanism is connected to the second arm of the balancing mechanism through the third arm supporting seat, and the third encoder mounting assembly and the third absolute value encoder are arranged on the third arm supporting seat.

3. The cantilevered three-axis positioning balance beam according to claim 2, wherein, The first encoder mounting assembly, the second encoder mounting assembly, and the third encoder mounting assembly each comprise an encoder mounting plate, an encoder connecting shaft, and an encoder cover, wherein the encoder plate is arranged on the bearing, the encoder connecting shaft penetrates through the encoder plate and is connected to the absolute value encoder, and the encoder cover covers the absolute value encoder.

4. The cantilevered three-axis positioning balance beam according to claim 3, wherein, The third arm of the balancing mechanism comprises two connecting arms, a nitrogen spring, a gas spring floating seat and a gas spring fixed seat. The two connecting arms are fixed in parallel between the third arm support seat and the screwdriver fixed seat. The gas spring floating seat is arranged in the third arm support seat. The gas spring fixed seat is arranged at the farthest end of the connecting arms. The nitrogen spring is arranged along the diagonal of the parallelogram formed by the two connecting arms.

5. The cantilevered three-axis positioning balanced beam arm according to claim 4, wherein, The screwdriver fixed seat comprises a fixed seat rotating shaft, a front end connecting column, a front end left side plate, a front end right side plate, a handle, a chuck mounting block and a tool chuck. The fixed seat rotating shaft is arranged at the farthest end of the connecting arms. The front end left side plate and the front end right side plate are arranged at the two sides of the farthest end of the connecting arms respectively. The front end left side plate and the front end right side plate are connected by the front end connecting column. The two connecting arms are hingedly connected between the front end left side plate and the front end right side plate by the two fixed seat rotating shafts.

6. The cantilevered three-axis positioning balanced beam arm according to claim 5, wherein, The chuck mounting block is fixedly arranged between the front end left side plate and the front end right side plate. The tool chuck is arranged on the chuck mounting block. The handle is arranged on one side of the tool chuck. The tool chuck is fixedly arranged with a servo screwdriver.

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